visualizers.viser_app.tasks.spot.spot_yellow_chair#

Module Contents#

visualizers.viser_app.tasks.spot.spot_yellow_chair.Z_AXIS#
visualizers.viser_app.tasks.spot.spot_yellow_chair.RESET_OBJECT_POSE#
visualizers.viser_app.tasks.spot.spot_yellow_chair.RADIUS_MIN = 1.0#
visualizers.viser_app.tasks.spot.spot_yellow_chair.RADIUS_MAX = 2.0#
class visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChairConfig#

Bases: jacta.visualizers.viser_app.tasks.spot_base.SpotBaseConfig

Config for the spot box manipulation task. .. py:attribute:: default_command

type:

numpy.ndarray

goal_position: numpy.ndarray#
w_orientation: float = 100.0#
w_torso_proximity: float = 0.1#
w_gripper_proximity: float = 4.0#
orientation_threshold: float = 0.1#
w_controls: float = 2.0#
w_object_velocity: float = 64.0#
class visualizers.viser_app.tasks.spot.spot_yellow_chair.SpotYellowChair#

Bases: jacta.visualizers.viser_app.tasks.spot_base.SpotBase[SpotYellowChairConfig]

Task getting Spot to move a box to a desired goal location. .. py:property:: nu

type:

int

Number of controls for this task.

property actuator_ctrlrange: numpy.ndarray#

Control bounds for this task.

Return type:

numpy.ndarray

reward(states: numpy.ndarray, sensors: numpy.ndarray, controls: numpy.ndarray, config: SpotYellowChairConfig, additional_info: dict[str, Any]) → numpy.ndarray#

Reward function for the Spot box moving task.

Parameters:

  • states (numpy.ndarray) –

  • sensors (numpy.ndarray) –

  • controls (numpy.ndarray) –

  • config (SpotYellowChairConfig) –

  • additional_info (dict[str, Any]) –

Return type:

numpy.ndarray

reset() → None#

Reset function for the spot box manipulation task .

Return type:

None